es58x_fd.h

  1/* SPDX-License-Identifier: GPL-2.0 */
  2
  3/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
  4 *
  5 * File es58x_fd.h: Definitions and declarations specific to ETAS
  6 * ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
  7 * when referring to those two variants together).
  8 *
  9 * Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
 10 * Copyright (c) 2020 ETAS K.K.. All rights reserved.
 11 * Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
 12 */
 13
 14#ifndef __ES58X_FD_H__
 15#define __ES58X_FD_H__
 16
 17#include <linux/types.h>
 18
 19#define ES582_1_NUM_CAN_CH 2
 20#define ES584_1_NUM_CAN_CH 1
 21#define ES58X_FD_NUM_CAN_CH 2
 22#define ES58X_FD_CHANNEL_IDX_OFFSET 0
 23
 24#define ES58X_FD_TX_BULK_MAX 100
 25#define ES58X_FD_RX_BULK_MAX 100
 26#define ES58X_FD_ECHO_BULK_MAX 100
 27
 28enum es58x_fd_cmd_type {
 29	ES58X_FD_CMD_TYPE_CAN = 0x03,
 30	ES58X_FD_CMD_TYPE_CANFD = 0x04,
 31	ES58X_FD_CMD_TYPE_DEVICE = 0xFF
 32};
 33
 34/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
 35enum es58x_fd_can_cmd_id {
 36	ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
 37	ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
 38	ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
 39	ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
 40	ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
 41	ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
 42	ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
 43	ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
 44	ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
 45};
 46
 47/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
 48enum es58x_fd_dev_cmd_id {
 49	ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
 50	ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
 51};
 52
 53/**
 54 * enum es58x_fd_ctrlmode - Controller mode.
 55 * @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
 56 * @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
 57 *	send anything, not even the acknowledgment bit.
 58 * @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
 59 * @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
 60 *	V1.0
 61 * @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
 62 *	behave when CAN FD reserved bit is monitored as
 63 *	dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
 64 *	field", paragraph "r0 bit"). 0 (not disable = enable): send
 65 *	error frame. 1 (disable): goes into bus integration mode
 66 *	(c.f. below).
 67 * @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
 68 *	filtering is disabled. 1: Edge filtering is enabled. Two
 69 *	consecutive dominant bits required to detect an edge for hard
 70 *	synchronization.
 71 */
 72enum es58x_fd_ctrlmode {
 73	ES58X_FD_CTRLMODE_ACTIVE = 0,
 74	ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
 75	ES58X_FD_CTRLMODE_FD = BIT(4),
 76	ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
 77	ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
 78	ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
 79};
 80
 81struct es58x_fd_bittiming {
 82	__le32 bitrate;
 83	__le16 tseg1;		/* range: [tseg1_min-1..tseg1_max-1] */
 84	__le16 tseg2;		/* range: [tseg2_min-1..tseg2_max-1] */
 85	__le16 brp;		/* range: [brp_min-1..brp_max-1] */
 86	__le16 sjw;		/* range: [0..sjw_max-1] */
 87} __packed;
 88
 89/**
 90 * struct es58x_fd_tx_conf_msg - Channel configuration.
 91 * @nominal_bittiming: Nominal bittiming.
 92 * @samples_per_bit: type enum es58x_samples_per_bit.
 93 * @sync_edge: type enum es58x_sync_edge.
 94 * @physical_layer: type enum es58x_physical_layer.
 95 * @echo_mode: type enum es58x_echo_mode.
 96 * @ctrlmode: type enum es58x_fd_ctrlmode.
 97 * @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
 98 * @data_bittiming: Bittiming for flexible data-rate transmission.
 99 * @tdc_enabled: Transmitter Delay Compensation switch (0: TDC is
100 *	disabled, 1: TDC is enabled).
101 * @tdco: Transmitter Delay Compensation Offset.
102 * @tdcf: Transmitter Delay Compensation Filter window.
103 *
104 * Please refer to the microcontroller datasheet: "SAM E70/S70/V70/V71
105 * Family" section 49 "Controller Area Network (MCAN)" for additional
106 * information.
107 */
108struct es58x_fd_tx_conf_msg {
109	struct es58x_fd_bittiming nominal_bittiming;
110	u8 samples_per_bit;
111	u8 sync_edge;
112	u8 physical_layer;
113	u8 echo_mode;
114	u8 ctrlmode;
115	u8 canfd_enabled;
116	struct es58x_fd_bittiming data_bittiming;
117	u8 tdc_enabled;
118	__le16 tdco;
119	__le16 tdcf;
120} __packed;
121
122#define ES58X_FD_CAN_CONF_LEN					\
123	(offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
124#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
125
126struct es58x_fd_tx_can_msg {
127	u8 packet_idx;
128	__le32 can_id;
129	u8 flags;
130	union {
131		u8 dlc;		/* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
132		u8 len;		/* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
133	} __packed;
134	u8 data[CANFD_MAX_DLEN];
135} __packed;
136
137#define ES58X_FD_CAN_TX_LEN						\
138	(offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
139#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
140
141struct es58x_fd_rx_can_msg {
142	__le64 timestamp;
143	__le32 can_id;
144	u8 flags;
145	union {
146		u8 dlc;		/* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
147		u8 len;		/* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
148	} __packed;
149	u8 data[CANFD_MAX_DLEN];
150} __packed;
151
152#define ES58X_FD_CAN_RX_LEN						\
153	(offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
154#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
155
156struct es58x_fd_echo_msg {
157	__le64 timestamp;
158	u8 packet_idx;
159} __packed;
160
161struct es58x_fd_rx_event_msg {
162	__le64 timestamp;
163	__le32 can_id;
164	u8 flags;		/* type enum es58x_flag */
165	u8 error_type;		/* 0: event, 1: error */
166	u8 error_code;
167	u8 event_code;
168} __packed;
169
170struct es58x_fd_tx_ack_msg {
171	__le32 rx_cmd_ret_le32;	/* type enum es58x_cmd_ret_code_u32 */
172	__le16 tx_free_entries;	/* Number of remaining free entries in the device TX queue */
173} __packed;
174
175/**
176 * struct es58x_fd_urb_cmd - Commands received from or sent to the
177 *	ES58X FD device.
178 * @SOF: Start of Frame.
179 * @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
180 *	calculation starts at this position.
181 * @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
182 * @channel_idx: Channel index starting at 0.
183 * @msg_len: Length of the message, excluding CRC (i.e. length of the
184 *	union).
185 * @tx_conf_msg: Channel configuration.
186 * @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
187 *	instead of "struct es58x_fd_tx_msg[]" because the structure
188 *	has a flexible size.
189 * @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
190 *	of "struct es58x_fd_rx_msg[]" because the structure has a
191 *	flexible size.
192 * @echo_msg: Array of echo messages (e.g. Tx messages being looped
193 *	back).
194 * @rx_event_msg: Error or event message.
195 * @tx_ack_msg: Tx acknowledgment message.
196 * @timestamp: Timestamp reply.
197 * @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
198 *	es58x_cmd_ret_code_u32).
199 * @raw_msg: Message raw payload.
200 * @reserved_for_crc16_do_not_use: The structure ends with a
201 *	CRC16. Because the structures in above union are of variable
202 *	lengths, we can not predict the offset of the CRC in
203 *	advance. Use functions es58x_get_crc() and es58x_set_crc() to
204 *	manipulate it.
205 */
206struct es58x_fd_urb_cmd {
207	__le16 SOF;
208	u8 cmd_type;
209	u8 cmd_id;
210	u8 channel_idx;
211	__le16 msg_len;
212
213	union {
214		struct es58x_fd_tx_conf_msg tx_conf_msg;
215		u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
216		u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
217		struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
218		struct es58x_fd_rx_event_msg rx_event_msg;
219		struct es58x_fd_tx_ack_msg tx_ack_msg;
220		__le64 timestamp;
221		__le32 rx_cmd_ret_le32;
222		DECLARE_FLEX_ARRAY(u8, raw_msg);
223	} __packed;
224
225	__le16 reserved_for_crc16_do_not_use;
226} __packed;
227
228#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
229#define ES58X_FD_TX_URB_CMD_MAX_LEN					\
230	ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
231#define ES58X_FD_RX_URB_CMD_MAX_LEN					\
232	ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
233
234#endif /* __ES58X_FD_H__ */